Surgical Robot Configuration Optimization for Target Reachability
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Solution Overview
Problem
Computer-assisted surgical systems face challenges in efficiently and effectively reaching target objects in a surgical space due to suboptimal configurations, which can hinder the efficiency and effectiveness of surgical procedures.
Innovation Solution
A configuration optimization system determines the reachability of target objects by a robotic instrument in a computer-assisted surgical system and suggests or automatically implements improved configurations to enhance reachability, considering parameters such as distance, orientation, and ergonomic efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the computer-assisted surgical system uses a fixed configuration, then the system structure is simple and easy to operate, but the reachability of target objects in the surgical space is limited
Solution Approach 1:
The system dynamically adjusts the configuration of the robotic instrument by computing optimal poses based on the current surgical state and target object location. The configuration changes from static to dynamic, allowing the instrument to adapt its reachability while maintaining ease of operation through automated control.
Solution Approach 2:
The system changes the configuration parameters of the robotic instrument (such as joint angles and segment positions) to optimize reachability. By adjusting these parameters based on real-time surgical conditions, the system expands its ability to reach target objects without complicating the operational interface.
2Adaptability or versatility
If the computer-assisted surgical system changes configuration frequently to improve reachability, then the reachability of target objects improves, but the time required for configuration adjustments increases
Solution Approach 1:
The system pre-computes optimal configuration poses based on the current surgical state and anticipated target locations. By preparing configuration options in advance, the system can quickly switch to the appropriate configuration when needed, reducing the time penalty associated with frequent adjustments.
Solution Approach 2:
The system continuously monitors the surgical state and target object position, using this feedback to dynamically determine the next optimal configuration. This closed-loop control allows the system to make timely configuration adjustments only when necessary, minimizing time loss while maintaining optimal reachability.
3Measurement precision
If the computer-assisted surgical system uses a complex configuration optimization algorithm, then the reachability optimization accuracy improves, but the computational complexity and processing time increase
Solution Approach 1:
The configuration optimization problem is segmented into manageable components: determining the current surgical state, identifying the target object, computing optimal poses, and executing configuration changes. This segmentation allows the use of specialized algorithms for each sub-problem, achieving high accuracy without overwhelming system complexity.
Solution Approach 2:
The system introduces an intermediary configuration optimization module that acts as a mediator between the surgical control system and the robotic instrument. This intermediary handles the complex computational tasks of pose optimization, shielding the rest of the system from complexity while maintaining high optimization accuracy.
Data Source
AI summary
A configuration optimization system determines a reachability of a target object in a surgical space by a robotic instrument of a computer-assisted surgical system for a first configuration of the computer-assisted surgical system. The configuration optimization system determines a second configuration of the computer-assisted surgical system that improves the reachability of the target object by the robotic instrument. The configuration optimization system provides, to the computer-assisted surgical system, data indicating the second configuration.